EP 3870486 A1 20210901 - METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH
Title (en)
METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH
Title (de)
VERFAHREN, UM EIN FAHRZEUG EINER GEWÜNSCHTEN KRÜMMUNGSBAHN FOLGEN ZU LASSEN
Title (fr)
PROCÉDÉ POUR FAIRE SUIVRE À UN VÉHICULE UN TRAJET DE COURBURE SOUHAITÉ
Publication
Application
Priority
EP 2018078907 W 20181022
Abstract (en)
[origin: WO2020083465A1] The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1), said vehicle (100) comprising at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of said vehicle (100), said method comprising at least the following steps: - providing (S1) information regarding state of said differential lock, said state being either that said differential lock is activated or unlocked, and when said differential lock is activated: - calculating (S2) a yaw moment, Mdiff,of said vehicle (100), caused by said differential lock; and - compensating (S3) for a deviation from said desired curvature path (C1) caused by said yaw moment, Mdiff, such that a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle (100), whereby said compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.
IPC 8 full level
B60W 10/04 (2006.01); B60K 28/16 (2006.01); B60W 10/119 (2012.01); B60W 10/12 (2012.01); B60W 10/184 (2012.01); B60W 10/20 (2006.01); B60W 30/045 (2012.01); B60W 30/18 (2012.01); B60W 40/114 (2012.01)
CPC (source: EP KR US)
B60K 28/165 (2013.01 - EP KR); B60W 10/04 (2013.01 - EP); B60W 10/12 (2013.01 - EP KR); B60W 10/184 (2013.01 - EP KR); B60W 10/20 (2013.01 - EP KR US); B60W 30/045 (2013.01 - EP KR US); B60W 30/18172 (2013.01 - EP KR US); B60W 40/114 (2013.01 - EP KR US); B60W 60/001 (2020.02 - EP KR); B60W 10/16 (2013.01 - US); B60W 2050/0012 (2013.01 - EP KR); B60W 2300/10 (2013.01 - EP KR); B60W 2300/12 (2013.01 - EP KR); B60W 2300/147 (2024.01 - US); B60W 2510/125 (2013.01 - EP KR US); B60W 2520/14 (2013.01 - US); B60W 2520/26 (2013.01 - EP KR US); B60W 2520/30 (2013.01 - EP KR); B60W 2552/40 (2020.02 - EP KR US); B60W 2710/125 (2013.01 - EP KR US); B60W 2710/207 (2013.01 - EP KR US); B60W 2720/14 (2013.01 - EP KR US)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
WO 2020083465 A1 20200430; CN 112888608 A 20210601; CN 112888608 B 20240426; EP 3870486 A1 20210901; JP 2022515308 A 20220218; JP 7322144 B2 20230807; KR 102637431 B1 20240220; KR 20210081401 A 20210701; US 11891047 B2 20240206; US 2021387613 A1 20211216
DOCDB simple family (application)
EP 2018078907 W 20181022; CN 201880098834 A 20181022; EP 18795391 A 20181022; JP 2021521986 A 20181022; KR 20217015485 A 20181022; US 201817287451 A 20181022